公开(公告)号：US20100274390A1

公开(公告)日：2010-10-28

申请号：US12810797

申请日：2008-12-17

申请人： Bernd Walser ,  Bernhard Metzler ,  Beat Aebischer ,  Knut Siercks ,  Bo Pettersson

发明人： Bernd Walser ,  Bernhard Metzler ,  Beat Aebischer ,  Knut Siercks ,  Bo Pettersson

IPC分类号： B25J9/16 ,  B25J19/04

CPC分类号： B25J9/1697

摘要： The invention relates to a method and a system for the high-precision positioning of at least one object in a final location in space. An object (12) is gripped and held by the industrial robot (11) within a gripping tolerance. A compensating variable, which corrects the gripping tolerance, is determined for the industrial robot (11). The object (12) is adjusted with high precision into a final location by the following steps, which repeat until reaching the final location at a predetermined tolerance: recording of image recordings by recording units (1a, 1b); determining the current location of the object (12) in the spatial coordinate system from the positions (Pa, Pb) of the recording units (1a, 1b), the angular orientations of cameras (2a, 2b) of the recording units (1a, 1b) which are detected by angle measuring units (4a, 4b), the image recordings, and the knowledge of features (13) on the object (12); calculating the location difference between the current location of the object (12) and the final location; calculating a new target position of the industrial robot (11) in consideration of the compensating variable from the current position of the industrial robot (11) and a variable which is linked to the location difference; adjusting the industrial robot (11) into the new target position.

摘要翻译： 本发明涉及一种用于在空间中的最终位置中对至少一个物体进行高精度定位的方法和系统。 物体（12）由工业机器人（11）夹持并保持在夹紧公差内。 为工业机器人（11）确定校正夹紧公差的补偿变量。 通过以下步骤将物体（12）以高精度调节到最终位置，其重复直到以预定公差到达最终位置：通过记录单元（1a，1b）记录图像记录; 从记录单元（1a，1b）的位置（Pa，Pb）确定物体（12）在空间坐标系中的当前位置，记录单元（1a，1b）的相机（2a，2b） 1b），通过角度测量单元（4a，4b），图像记录和物体（12）上的特征（13）的知识来检测; 计算对象（12）的当前位置与最终位置之间的位置差; 考虑到来自工业机器人（11）的当前位置的补偿变量和与位置差异相关联的变量来计算工业机器人（11）的新目标位置; 将工业机器人（11）调整到新的目标位置。

公开(公告)号：US08798794B2

公开(公告)日：2014-08-05

申请号：US13322123

申请日：2010-05-26

申请人： Bernd Walser ,  Bernhard Metzler ,  Beat Aebischer ,  Knut Siercks ,  Bo Pettersson

发明人： Bernd Walser ,  Bernhard Metzler ,  Beat Aebischer ,  Knut Siercks ,  Bo Pettersson

IPC分类号： B25J13/08 ,  B25J19/04 ,  B25J9/16 ,  G06T7/00

CPC分类号： B25J9/1697 ,  B25J9/1612 ,  B25J9/1692 ,  G05B19/402 ,  G05B2219/36412 ,  G05B2219/37555 ,  G05B2219/37567 ,  G05B2219/39387 ,  G05B2219/39391 ,  G05B2219/40555 ,  G05B2219/40604 ,  Y10S901/08 ,  Y10S901/09 ,  Y10S901/14 ,  Y10S901/31 ,  Y10S901/47

摘要： An object is highly precisely moved by an industrial robot to an end position by the following steps, which are repeated until the end position is reached within a specified tolerance: Recording a three-dimensional image by means of a 3-D image recording device. Determining the present position of the object in the spatial coordinate system from the position of the 3-D image recording device the angular orientation of the 3-D image recording device detected by an angle measuring unit, the three-dimensional image, and the knowledge of features on the object. Calculating the position difference between the present position of the object and the end position. Calculating a new target position of the industrial robot while taking into consideration the compensation value from the present position of the industrial robot and a value linked to the position difference. Moving the industrial robot to the new target position.

摘要翻译： 通过以下步骤将物体高度精确地移动到工业机器人到结束位置，这些步骤被重复，直到在特定公差范围内到达结束位置：通过3-D图像记录装置记录三维图像。 从三维图像记录装置的位置确定物体在空间坐标系中的当前位置，由角度测量单元检测的三维图像记录装置的角度取向，三维图像和知识 的对象上的功能。 计算物体的当前位置与终点位置之间的位置差。 计算工业机器人的新目标位置，同时考虑到工业机器人的当前位置的补偿值和与位置差有关的值。 将工业机器人移动到新的目标位置。

公开(公告)号：US08346392B2

公开(公告)日：2013-01-01

申请号：US12810797

申请日：2008-12-17

申请人： Bernd Walser ,  Bernhard Metzler ,  Beat Aebischer ,  Knut Siercks ,  Bo Pettersson

发明人： Bernd Walser ,  Bernhard Metzler ,  Beat Aebischer ,  Knut Siercks ,  Bo Pettersson

IPC分类号： G05B19/00

CPC分类号： B25J9/1697

摘要： The invention relates to a method and a system for the high-precision positioning of at least one object in a final location in space. An object (12) is gripped and held by the industrial robot (11) within a gripping tolerance. A compensating variable, which corrects the gripping tolerance, is determined for the industrial robot (11). The object (12) is adjusted with high precision into a final location by the following steps, which repeat until reaching the final location at a predetermined tolerance: recording of image recordings by recording units (1a, 1b); determining the current location of the object (12) in the spatial coordinate system from the positions (Pa, Pb) of the recording units (1a, 1b), the angular orientations of cameras (2a, 2b) of the recording units (1a, 1b) which are detected by angle measuring units (4a, 4b), the image recordings, and the knowledge of features (13) on the object (12); calculating the location difference between the current location of the object (12) and the final location; calculating a new target position of the industrial robot (11) in consideration of the compensating variable from the current position of the industrial robot (11) and a variable which is linked to the location difference; adjusting the industrial robot (11) into the new target position.

摘要翻译： 本发明涉及一种用于在空间中的最终位置中对至少一个物体进行高精度定位的方法和系统。 物体（12）由工业机器人（11）夹持并保持在夹紧公差内。 为工业机器人（11）确定校正夹紧公差的补偿变量。 通过以下步骤将物体（12）以高精度调节到最终位置，其重复直到以预定公差到达最终位置：通过记录单元（1a，1b）记录图像记录; 从记录单元（1a，1b）的位置（Pa，Pb）确定物体（12）在空间坐标系中的当前位置，记录单元（1a，1b）的相机（2a，2b） 1b），通过角度测量单元（4a，4b），图像记录和物体（12）上的特征（13）的知识来检测; 计算对象（12）的当前位置与最终位置之间的位置差; 考虑到来自工业机器人（11）的当前位置的补偿变量和与位置差异相关联的变量来计算工业机器人（11）的新目标位置; 将工业机器人（11）调整到新的目标位置。

公开(公告)号：US20120072021A1

公开(公告)日：2012-03-22

申请号：US13322123

申请日：2010-05-26

申请人： Bernd Walser ,  Bernhard Metzler ,  Beat Aebischer ,  Knut Siercks ,  Bo Pettersson

发明人： Bernd Walser ,  Bernhard Metzler ,  Beat Aebischer ,  Knut Siercks ,  Bo Pettersson

IPC分类号： B25J13/08 ,  B25J19/04

CPC分类号： B25J9/1697 ,  B25J9/1612 ,  B25J9/1692 ,  G05B19/402 ,  G05B2219/36412 ,  G05B2219/37555 ,  G05B2219/37567 ,  G05B2219/39387 ,  G05B2219/39391 ,  G05B2219/40555 ,  G05B2219/40604 ,  Y10S901/08 ,  Y10S901/09 ,  Y10S901/14 ,  Y10S901/31 ,  Y10S901/47

摘要： An object is highly precisely moved by an industrial robot to an end position by the following steps, which are repeated until the end position is reached within a specified tolerance: Recording a three-dimensional image by means of a 3-D image recording device. Determining the present position of the object in the spatial coordinate system from the position of the 3-D image recording device the angular orientation of the 3-D image recording device detected by an angle measuring unit, the three-dimensional image, and the knowledge of features on the object. Calculating the position difference between the present position of the object and the end position. Calculating a new target position of the industrial robot while taking into consideration the compensation value from the present position of the industrial robot and a value linked to the position difference. Moving the industrial robot to the new target position.

摘要翻译： 通过以下步骤将物体高度精确地移动到工业机器人到结束位置，这些步骤被重复，直到在特定公差范围内到达结束位置：通过3-D图像记录装置记录三维图像。 从三维图像记录装置的位置确定物体在空间坐标系中的当前位置，由角度测量单元检测的三维图像记录装置的角度取向，三维图像和知识 的对象上的功能。 计算物体的当前位置与终点位置之间的位置差。 计算工业机器人的新目标位置，同时考虑到工业机器人的当前位置的补偿值以及与位置差有关的值。 将工业机器人移动到新的目标位置。

公开(公告)号：US08908028B2

公开(公告)日：2014-12-09

申请号：US13321157

申请日：2010-06-24

申请人： Bernhard Metzler ,  Bernd Walser ,  Beat Aebischer

发明人： Bernhard Metzler ,  Bernd Walser ,  Beat Aebischer

IPC分类号： G06K9/00 ,  B25J9/16

CPC分类号： B25J9/1697 ,  G05B2219/37008 ,  G05B2219/37009 ,  G05B2219/37015 ,  G05B2219/37017 ,  G05B2219/37567

摘要： According to the invention, the calibration measuring cycle is divided into several, particularly a plurality of partial cycles, with which one or more of the calibration measurements are associated. While maintaining the cycle, the partial cycles are now carried out in one of the positioning pauses such that the calibration measuring cycle is distributed over several, in particular a plurality of, positioning pauses and is integrated into the flow of the industrial process without interfering with the same.

摘要翻译： 根据本发明，校准测量循环被分成几个，特别是多个部分循环，其中一个或多个校准测量与之相关联。 在保持循环的同时，部分循环现在在定位暂停之一中进行，使得校准测量循环分布在几个，特别是多个定位暂停中，并被集成到工业过程的流程中而不会干扰 一样。

公开(公告)号：US20120098958A1

公开(公告)日：2012-04-26

申请号：US13321157

申请日：2010-06-24

申请人： Bernhard Metzler ,  Bernd Walser ,  Beat Aebischer

发明人： Bernhard Metzler ,  Bernd Walser ,  Beat Aebischer

IPC分类号： H04N7/18

CPC分类号： B25J9/1697 ,  G05B2219/37008 ,  G05B2219/37009 ,  G05B2219/37015 ,  G05B2219/37017 ,  G05B2219/37567

摘要： According to the invention, the calibration measuring cycle is divided into several, particularly a plurality of partial cycles, with which one or more of the calibration measurements are associated. While maintaining the cycle, the partial cycles are now carried out in one of the positioning pauses such that the calibration measuring cycle is distributed over several, in particular a plurality of, positioning pauses and is integrated into the flow of the industrial process without interfering with the same.

摘要翻译： 根据本发明，校准测量循环被分成几个，特别是多个部分循环，其中一个或多个校准测量与之相关联。 在保持循环的同时，部分循环现在在定位暂停之一中进行，使得校准测量循环分布在几个，特别是多个定位暂停中，并被集成到工业过程的流程中而不会干扰 一样。

公开(公告)号：US09482524B2

公开(公告)日：2016-11-01

申请号：US14002657

申请日：2012-04-13

申请人： Bernhard Metzler ,  Knut Siercks

发明人： Bernhard Metzler ,  Knut Siercks

IPC分类号： G01B21/04 ,  G05D1/00

CPC分类号： G01B21/04 ,  B64C2201/123 ,  B64C2201/141 ,  G05D1/0094

摘要： A measuring system for determining 3D coordinates of measurement points on an object surface which has a scanning apparatus for measuring the measurement points on the object surface and for determining inner measurement point coordinates in an inner scanning coordinate system. Furthermore, a referencing arrangement for producing referencing information for referencing the inner measurement point coordinates in the outer object coordinate system and an evaluation unit for determining the 3D coordinates of the measurement points in the outer object coordinate system on the basis of the inner measurement point coordinates and the referencing information are provided such that the inner measurement point coordinates are in the form of 3D coordinates in the outer object coordinate system. The scanning apparatus is in this case carried in an unmanned, controllable, automotive air vehicle.

摘要翻译： 一种用于确定物体表面上的测量点的3D坐标的测量系统，其具有用于测量物体表面上的测量点并用于确定内部扫描坐标系中的内部测量点坐标的扫描装置。 此外，用于产生用于参考外部对象坐标系中的内部测量点坐标的参考信息的参考装置和用于基于内部测量点坐标来确定外部对象坐标系中的测量点的3D坐标的评估单元 并且提供参考信息，使得内部测量点坐标是外部对象坐标系中的3D坐标的形式。 在这种情况下，扫描装置是携带在无人驾驶的，可控的汽车中的。

公开(公告)号：US20140032021A1

公开(公告)日：2014-01-30

申请号：US14111162

申请日：2012-04-13

申请人： Bernhard Metzler ,  Knut Siercks

发明人： Bernhard Metzler ,  Knut Siercks

IPC分类号： B64C19/00

CPC分类号： B64C19/00 ,  B64C13/20 ,  B64C39/024 ,  B64C2201/146 ,  G01C15/002 ,  G01S5/0036 ,  G01S5/16 ,  G01S17/66 ,  G05D1/0033

摘要： A geodetic measuring system having a geodetic measuring unit having a beam source for emitting a substantially collimated optical beam. The measuring system also has an automotive, unmanned, controllable air vehicle having an optical module. An evaluation unit is also provided, wherein the evaluation unit is configured in such a manner that an actual state of the air vehicle, as determined by a position, an orientation and/or a change in position, can be determined in a coordinate system from interaction between the optical beam and the optical module. The measuring system has a control unit for controlling the air vehicle, wherein the control unit is configured in such a manner that control data can be produced using an algorithm on the basis of the actual state, which can be continuously determined in particular, and a defined desired state, and the air vehicle can be automatically changed to the desired state.

摘要翻译： 具有大地测量单元的大地测量系统具有用于发射基本上准直的光束的光束源。 该测量系统还具有带有光学模块的汽车，无人驾驶的可控制的空中飞行器。 还提供了一种评估单元，其中评估单元被构造成使得可以在坐标系中确定由位置确定的方位和/或位置变化的飞行器的实际状态， 光束与光学模块之间的相互作用。 测量系统具有用于控制空中交通工具的控制单元，其中控制单元被配置为使得可以基于可以被连续地确定的实际状态的算法来产生控制数据，并且 所定义的期望状态，并且空中交通工具可以自动地改变到期望的状态。

公开(公告)号：US09758239B2

公开(公告)日：2017-09-12

申请号：US14111162

申请日：2012-04-13

申请人： Bernhard Metzler ,  Knut Siercks

发明人： Bernhard Metzler ,  Knut Siercks

IPC分类号： B64C19/00 ,  B64C13/20 ,  B64C39/02 ,  G05D1/00 ,  G01S5/00 ,  G01S5/16 ,  G01S17/66 ,  G01C15/00

CPC分类号： B64C19/00 ,  B64C13/20 ,  B64C39/024 ,  B64C2201/146 ,  G01C15/002 ,  G01S5/0036 ,  G01S5/16 ,  G01S17/66 ,  G05D1/0033

摘要： A geodetic measuring system having a geodetic measuring unit having a beam source for emitting a substantially collimated optical beam. The measuring system also has an automotive, unmanned, controllable air vehicle having an optical module. An evaluation unit is also provided, wherein the evaluation unit is configured in such a manner that an actual state of the air vehicle, as determined by a position, an orientation and/or a change in position, can be determined in a coordinate system from interaction between the optical beam and the optical module. The measuring system has a control unit for controlling the air vehicle, wherein the control unit is configured in such a manner that control data can be produced using an algorithm on the basis of the actual state, which can be continuously determined in particular, and a defined desired state, and the air vehicle can be automatically changed to the desired state.

公开(公告)号：US20140046589A1

公开(公告)日：2014-02-13

申请号：US14002657

申请日：2012-04-13

申请人： Bernhard Metzler ,  Knut Siercks

发明人： Bernhard Metzler ,  Knut Siercks

IPC分类号： G01B21/04 ,  G05D1/00

CPC分类号： G01B21/04 ,  B64C2201/123 ,  B64C2201/141 ,  G05D1/0094

摘要： A measuring system for determining 3D coordinates of measurement points on an object surface which has a scanning apparatus for measuring the measurement points on the object surface and for determining inner measurement point coordinates in an inner scanning coordinate system. Furthermore, a referencing arrangement for producing referencing information for referencing the inner measurement point coordinates in the outer object coordinate system and an evaluation unit for determining the 3D coordinates of the measurement points in the outer object coordinate system on the basis of the inner measurement point coordinates and the referencing information are provided such that the inner measurement point coordinates are in the form of 3D coordinates in the outer object coordinate system. The scanning apparatus is in this case carried in an unmanned, controllable, automotive air vehicle.

摘要翻译： 一种用于确定物体表面上的测量点的3D坐标的测量系统，其具有用于测量物体表面上的测量点并用于确定内部扫描坐标系中的内部测量点坐标的扫描装置。 此外，用于产生用于参考外部对象坐标系中的内部测量点坐标的参考信息的参考装置和用于基于内部测量点坐标来确定外部对象坐标系中的测量点的3D坐标的评估单元 并且提供参考信息，使得内部测量点坐标是外部对象坐标系中的3D坐标的形式。 在这种情况下，扫描装置是携带在无人驾驶的，可控的汽车中的。